JP2022096713A - Information processor, information processing method, and program - Google Patents

Abstract

To improve the estimation accuracy of a direction in which a transmitting station is present.SOLUTION: An electric power center calculation section 30 calculates an electric power center averaged by weighting position coordinates of a plurality of radio wave sensors detecting electric power of radio waves transmitted by a transmitting station by the electric power detected by each radio wave sensor. An estimation section 33 estimates a direction of the transmitting station viewed from the electric power center. An area setting section 31 sets a fan-shaped sub-area of which a line segment in a direction from the electric power center to the transmitting station is a bisector of a central angle with the electric power center as a center. The electric power center calculation section 30 calculates sub-area centers averaged and calculated by weighting position coordinates of the plurality of radio wave sensors included in the sub-areas by the electric power detected by each radio wave sensor. The area setting section 31 changes the radius of the sub-area until a rate of a change amount of a distance between the electric power center and the sub-area center relative to a change amount of the radius reaches threshold length that is a predetermined threshold amount. The estimation section 33 outputs the sub-area of which the radius is the threshold length as an estimated area including the transmitting station.SELECTED DRAWING: Figure 2

Description

The present invention relates to an information processing apparatus, an information processing method, and a program, and more particularly to a technique for estimating the direction and position of a transmitting station that transmits radio waves in a frequency band that can be used for mobile communication.

Conventionally, for example, Non-Patent Document 1 describes a wave source position estimation technique for estimating the position of a transmitting station (wave source) that transmits radio waves in a frequency band that can be used for mobile communication. In the wave source position estimation technique described in Non-Patent Document 1, a plurality of terminals (sensor nodes) for detecting the received signal strength indicator (RSSI) of the radio wave transmitted from the transmitting station are arranged in the search area. The RSSI center of gravity averaged by weighting the position of each terminal with the RSSI detected at each terminal is calculated, and the calculated RSSI center of gravity is used as the estimated position of the transmitting station.

Takuya Waka, Toshiyuki Maeyama, Hiromi Matsuno, Hiroyuki Shinbo, "A Study on Estimating Radio Wave Area in Mobile Distribution Monitoring", 2016 IEICE General Conference, B-17-11

The wave source position estimation technique described in Non-Patent Document 1 described above is based on the premise that the radio wave transmitted by the transmitting station is omnidirectional. However, there are many cases where the radio wave to be transmitted has directivity in some transmitting stations, and there is no information about whether or not the radio wave transmitted by the transmitting station has directivity, and if there is directivity, the direction. It is also possible. In such a case, the above-mentioned technique may reduce the estimation accuracy of the direction and position where the transmitting station exists.

The present invention has been made in view of these points, and an object of the present invention is to provide a technique for improving the estimation accuracy of a region in which a transmitting station exists.

The first aspect of the present invention is an information processing apparatus. This device includes a power center of gravity calculation unit that calculates the power center of gravity by weighting the position coordinates of each of a plurality of radio wave sensors that detect the power of radio waves transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity. An estimation unit that estimates the direction of the transmitting station as seen from the center of power, and a sub that is a fan-shaped region centered on the center of power and whose line segment from the center of power toward the direction is a bisector of the central angle. It is provided with an area setting unit for setting an area. The power center of gravity calculation unit calculates the sub-area center of gravity calculated by weighting and averaging the position coordinates of each of the plurality of radio wave sensors included in the sub-area with the power detected by each of the radio wave sensors, and the area setting unit. Changes the radius until the radius of the sub-area reaches a threshold length at which the ratio of the amount of change in the distance between the center of electric power and the center of gravity of the sub-area to the amount of change in the radius becomes a predetermined threshold amount. The estimation unit outputs the sub-area whose radius is the threshold length as an estimation area including the transmission station.

The area setting unit may reduce the central angle until the central angle of the sub-area reaches a threshold angle at which the number of radio wave sensors included in the sub-area becomes a predetermined threshold number, and the estimation unit may reduce the central angle. May output the sub-area centered on the power center, the radius being the threshold length, and the central angle being the threshold angle as the estimated region.

The power center of gravity calculation unit detects the position coordinates of each of the plurality of radio wave sensors having the center of gravity as the center, the central angle of which is the threshold angle, and the radius of which is included in the subarea of the threshold length. The center of gravity of the sub-area calculated by weighting with electric power and averaging may be calculated, and the estimation unit may output the center of gravity of the sub-area as the estimated position of the transmitting station.

In the two-dimensional XY Cartesian coordinate system that defines the position coordinates, the estimation unit sets the coordinates of the power center G of the estimation area (Xg, Yg), the radius of the estimation area _rth , and transmits the power center G from the power center G. When the angle in the two-dimensional XY Cartesian coordinate system that anticipates the station is θ _b and the coordinates of the estimated position of the transmitting station are (Xb, Yb), the estimation unit sets the value of Xb to Xg + r _th cos (θ _b ). , Yb may be estimated as Yg + r _th sin (θ _b ).

The predetermined number of thresholds may be 3 or more.

The second aspect of the present invention is an information processing method. In this method, the processor calculates the power center of gravity obtained by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity. A step of estimating the direction of the transmitting station as seen from the center of power, and a sub-area which is a fan-shaped region centered on the center of power and in which a line segment from the center of power toward the direction is a bisector of the central angle. And the step of calculating the center of gravity of the plurality of sub-areas calculated by weighting and averaging the position coordinates of each of the plurality of radio sensors included in the sub-area with the power detected by each of the radio sensors. The step of changing the radius until the radius of the sub-area reaches a threshold length at which the ratio of the change amount of the sub-area center of gravity to the change amount of the radius becomes a predetermined threshold amount, and the radius is the threshold length. A step of outputting the sub-area as an estimated area including the transmitting station is executed.

A third aspect of the present invention is a program. This program has a function of calculating the power center of gravity by weighting the position coordinates of each of a plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center. A function that estimates the direction of the transmitting station as seen from the center of power, and a sub-area that is a fan-shaped area centered on the center of power and whose line segment from the center of power toward the direction is a bisector of the central angle. And a function to calculate the center of gravity of a plurality of sub-areas calculated by weighting and averaging the position coordinates of each of the plurality of radio sensors included in the sub-area with the power detected by each of the radio sensors. The function of changing the radius of the sub-area until the ratio of the change amount of the sub-area center of gravity to the change amount of the radius reaches a threshold length at which the predetermined threshold amount is obtained, and the radius is the threshold length. The function of outputting the sub-area as an estimation area including the transmitting station is realized.

In order to provide this program or to update a part of the program, a computer-readable recording medium on which the program is recorded may be provided, or the program may be transmitted over a communication line.

It should be noted that any combination of the above components and the conversion of the expression of the present invention between methods, devices, systems, computer programs, data structures, recording media and the like are also effective as aspects of the present invention.

According to the present invention, it is possible to improve the estimation accuracy of the region where the transmitting station exists.

It is a figure for demonstrating the outline of the direction estimation process performed by the information processing apparatus which concerns on embodiment. It is a figure which shows typically the functional structure of the information processing apparatus which concerns on embodiment. It is a figure for demonstrating the distance between the centers of gravity calculated by the distance calculation part which concerns on embodiment. It is a figure which shows an example of the shape of the sub-area set by the area setting part which concerns on embodiment. It is a figure which shows typically the graph which the rotation angle is a 1st axis, and the distance between the centers of gravity corresponding to the rotation angle is a 2nd axis. It is a figure which shows the simulation result of the direction estimation process performed by the information processing apparatus which concerns on embodiment. It is a flowchart for demonstrating the flow of the direction estimation process executed by the information processing apparatus which concerns on embodiment. It is a figure for demonstrating the process of specifying the radius of the sub-area executed by the information processing apparatus which concerns on embodiment. It is a figure for demonstrating the process of specifying the central angle of the sub-area executed by the information processing apparatus which concerns on embodiment. , Is a flowchart for explaining the flow of the position estimation process executed by the information processing apparatus according to the embodiment. It is a figure for demonstrating the position estimation process of a transmitting station by the estimation part which concerns on the 2nd modification.

<Outline of estimation of the direction in which transmission station B exists>
1 (a)-(f) is a diagram for explaining an outline of the direction estimation process executed by the information processing apparatus 1 according to the embodiment. Hereinafter, the outline of the estimation process in the direction in which the transmitting station B exists will be described with reference to FIGS. 1 (a) and 1 (f).

FIG. 1A is a diagram for explaining the position estimation of the transmission station B according to the prior art. In FIG. 1A, the circle C shown by the broken line indicates the range in which the radio wave transmitted by the transmitting station B can be observed by the radio wave sensor. Specifically, FIG. 1A shows an example in which the transmitting station B transmits an omnidirectional radio wave. The plurality of white circles or black circles in FIG. 1 (a) indicate radio wave sensors, respectively. Of these, the white circles indicate the radio wave sensors whose radio waves transmitted by the transmitting station B are below the reception sensitivity, and the black circles indicate the radio wave sensors receiving the radio waves transmitted by the transmitting station B. ing. The size of the black circle indicates the power of the radio wave received by each sensor. Specifically, the larger the radius of the circle, the stronger the power of the radio wave received by the corresponding radio wave sensor. It is shown that. As shown in FIG. 1A, the power of the received radio wave becomes stronger as the radio wave sensor installed at a position closer to the transmitting station B.

In FIG. 1 (a), the position coordinates of N radio waves (N is an integer of 1 or more) receiving the radio waves transmitted by the transmitting station B are defined as (x _i , y _i ). Here, i = 1, ..., N, and the i-th radio wave sensor receiving the radio wave transmitted by the transmitting station B is shown. In the position estimation of the transmitting station B according to the prior art, the estimated value of the position (X _b , Y _b ) of the transmitting station B is calculated based on the following equation (1).

ここで、Ｐ_ｉは、ｉ番目の電波センサが検出した電波の電力を示している。

Here, Pi indicates the power of the radio wave detected by the _i -th radio wave sensor.

Equation (1) calculates the weighted average of the position coordinates of each radio wave sensor receiving the radio wave transmitted by the transmitting station B by the power of the radio wave detected by the radio wave sensor, that is, of each radio wave sensor. It indicates that the position of the center of gravity of the position coordinates with respect to the electric wave (hereinafter referred to as "the center of gravity of electric wave G") is calculated. In FIG. 1A, the white triangle with the reference numeral G is the power center of gravity G calculated based on the equation (1). The closer the radio wave sensor is to the transmitting station B, the stronger the power of the received radio wave. Therefore, if the radio wave transmitted by the transmitting station B is omnidirectional, it is calculated based on the equation (1). It is considered that the obtained position coordinates are highly accurate as an estimated value of the position coordinates of the transmitting station B.

FIG. 1B is a diagram showing an example in which the position of the transmitting station B is calculated based on the equation (1) when the transmitting station B transmits a directional radio wave. In FIG. 1 (b), the fan shape indicated by the reference numeral A indicates a region A in which the radio wave transmitted by the transmitting station B reaches. As shown in FIG. 1 (b), since only the radio wave sensor existing in the region A can receive the radio wave transmitted by the transmitting station B, the position of the power center of gravity G deviates from the position of the transmitting station B. Therefore, the information processing apparatus according to the embodiment estimates the direction in which the transmitting station B exists in the order shown in FIGS. 1 (c) to 1 (f).

As shown in FIG. 1 (c), the information processing apparatus according to the embodiment uses the power detected by each of the radio wave sensors to determine the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station B. The weighted and average power center of gravity G is calculated. In the example shown in FIG. 1 (c), since the radio wave transmitted by the transmitting station B has directivity, the position where the transmitting station B exists and the position of the center of gravity G of the power are different from each other.

Subsequently, the information processing apparatus according to the embodiment sets a plurality of subareas S which are regions including the center of gravity G of the electric power. In the example shown in FIG. 1 (d), three fan-shaped sub-areas S of the first sub-area S1, the second sub-area S2, and the third sub-area S3 are exemplified. The second sub-area S2 and the third sub-area S3 are sub-areas S in which the set position is changed by rotating the first sub-area S1 at different rotation angles with the center of gravity G as the center of rotation. For example, in FIG. 1D, the second sub-area S2 is a sub-area in which the first sub-area S1 is rotated by an angle θ to change the set position.

The information processing apparatus according to the embodiment has a plurality of sub-area centers of gravity Gs calculated by weighting and averaging the position coordinates of each of the plurality of radio wave sensors included in each of the plurality of sub-areas S with the power detected by each radio wave sensor. calculate. In FIG. 1 (d), the white circle included in each of the first sub-area S1, the second sub-area S2, and the third sub-area S3 is the first sub-area where the sub-area center of gravity Gs of each sub-area S is used. The center of gravity Gs1, the second subarea center of gravity Gs2, and the third subarea center of gravity Gs3 are shown.

FIG. 1 (e) shows the locus T of the center of gravity Gs of the sub-area calculated by changing the set position while rotating the first sub-area S1 at a plurality of different rotation angles. Although the details will be described later, the locus T of the subarea center of gravity Gs has a line-symmetrical shape. Further, as shown in FIG. 1 (f), the transmitting station B is a line segment which is a symmetry axis of the locus T of the subarea center of gravity Gs (referred to as a one-dot chain line (hereinafter, “symmetry axis L”) shown in FIG. 1 (f). May be described.)) Exists on. By utilizing this property, the information processing apparatus according to the embodiment can accurately estimate the direction in which the transmitting station B exists.

<Functional configuration of the information processing apparatus 1 according to the embodiment>
FIG. 2 is a diagram schematically showing a functional configuration of the information processing apparatus 1 according to the embodiment. The information processing device 1 includes a storage unit 2 and a control unit 3. In FIG. 2, the arrows indicate the main data flows, and there may be data flows not shown in FIG. In FIG. 2, each functional block shows not a hardware (device) unit configuration but a functional unit configuration. Therefore, the functional block shown in FIG. 2 may be mounted in a single device, or may be mounted in a plurality of devices separately. Data can be exchanged between functional blocks via any means such as a data bus, a network, and a portable storage medium.

The storage unit 2 includes a ROM (Read Only Memory) that stores a BIOS (Basic Input Output System) of a computer that realizes the information processing device 1, a RAM (Random Access Memory) that is a work area of the information processing device 1, and an OS (OS). It is a large-capacity storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores an operating system), an application program, and various information referred to when the application program is executed.

The control unit 3 is a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit) of the information processing device 1, and by executing a program stored in the storage unit 2, the power center of gravity calculation unit 30 and the area are set. It functions as a unit 31, a distance calculation unit 32, and an estimation unit 33.

Note that FIG. 2 shows an example in which the information processing apparatus 1 is composed of a single apparatus. However, the information processing device 1 may be realized by a plurality of processors, memory, and other computational resources, such as a cloud computing system. In this case, each unit constituting the control unit 3 is realized by executing a program by at least one of a plurality of different processors.

The power center of gravity calculation unit 30 calculates the power center of gravity G by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station B with the power detected by each radio wave sensor and averaging them.

The area setting unit 31 sets a sub-area S that is an area including the power center of gravity G, and rotates the sub-area S at a plurality of different angles of rotation with the power center of gravity G as the center of rotation to change the set position. Set the sub area S. The shape of the sub-area S set by the area setting unit 31 will be described later.

The power center of gravity calculation unit 30 calculates a plurality of subarea center of gravity Gs calculated by averaging the position coordinates of each of the plurality of radio wave sensors included in each of the plurality of subareas S by weighting them with the power detected by each radio wave sensor. .. Here, the power center of gravity calculation unit 30 may sequentially calculate the sub-area center of gravity Gs of the sub-area S each time the area setting unit 31 sets a new sub-area S. Alternatively, the power center of gravity calculation unit 30 may calculate the sub-area center of gravity Gs for each of the plurality of sub-areas S preset by the area setting unit 31.

The distance calculation unit 32 calculates the distance d between the centers of gravity, which is the distance between the power center of gravity G and each of the plurality of subarea center of gravity Gs calculated by the power center of gravity calculation unit 30.

3 (a)-(d) is a diagram for explaining the distance d between the centers of gravity calculated by the distance calculation unit 32 according to the embodiment. FIG. 3A shows that the area setting unit 31 has set the fan-shaped first sub-area S1 centered on the center of gravity G of the electric power. Further, in the second sub-area S2, the third sub-area S3, and the fourth sub-area S4 shown in each of FIGS. 3 (b), 3 (c), and 3 (d), the area setting unit 31 , The first subarea S1 shown in FIG. 3A is set by rotating the first subarea S1 at different angles about the center of gravity G of the electric power.

In FIGS. 3A-(d), the black rectangle indicated by the reference numeral B indicates the transmitting station B, and the triangular area indicated by the reference numeral A indicates the area A where the radio wave transmitted by the transmitting station B reaches. It is assumed that the position of the transmitting station B and the size and shape of the region A are unknown. The first sub-area S1 shown in FIG. 3A is included in the area A, but a part of the second sub-area S2 shown in FIG. 3B is set to be located outside the area A. There is. Therefore, the second sub-area center of gravity Gs2, which is the sub-area center of gravity Gs of the second sub-area S2, exists in the region where the second sub-area S2 and the region A overlap, and the second sub-area center of gravity Gs2 is It will approach the center of gravity G of the electric power. Therefore, the distance d1 between the first center of gravity, which is the distance between the power center of gravity G and the first subarea center of gravity Gs1, is shorter than the distance d2 between the second center of gravity, which is the distance between the power center of gravity G and the second subarea center of gravity Gs2. Become.

The third sub-area S3 shown in FIG. 3 (c) shows a diagram in which the transmitting station B exists on the bisector of the central angle of the third sub-area S3. In this case, the third sub-area center of gravity Gs3 exists on the line segment connecting the power center of gravity G and the transmission station B, and is the distance between the power center of gravity G and the third sub-area center of gravity Gs3. The distance of d3 is longer than the distance between the transmitting station B and the center of gravity Gs3 of the third subarea.

The fourth sub-area S4 shown in FIG. 3D has the narrowest overlapping area with the area A. Therefore, the fourth sub-area center of gravity Gs4, which is the sub-area center of gravity Gs of the fourth sub-area S4, is closest to the power center of gravity G.

As described above, the relationship between the rotation angle θ of each of the plurality of subareas S and the distance d between the centers of gravity changes depending on the direction of the transmitting station B as seen from the power center of gravity G. The estimation unit 33 estimates the direction of the transmitting station B as seen from the power center of gravity G based on the relationship between the rotation angle θ of each of the plurality of subareas S and the distance d between the centers of gravity. As a result, the information processing apparatus 1 can accurately estimate the direction in which the transmitting station B exists.

(Shape of sub area S)
The shape of the sub-area S set by the area setting unit 31 according to the embodiment will be described.
4 (a)-(c) is a diagram showing an example of the shape of the sub-area S set by the area setting unit 31 according to the embodiment. Specifically, the shape of the sub-area S shown in FIG. 4 (a) is a fan shape, the shape of the sub-area S shown in FIG. 4 (b) is an isosceles triangle, and the shape of the sub-area S shown in FIG. 4 (c) is an isosceles triangle. The shape of S is a rhombus.

As shown in FIGS. 4A to 4C, the sub-area S set by the area setting unit 31 according to the embodiment is a region having a shape having a line-symmetrical structure. The area setting unit 31 sets the sub-area S3 so that the center of gravity G of the power is on the axis of symmetry L of line symmetry. More specifically, when the shape of the sub-area S is a fan shape, the area setting unit 31 sets the sub-area S so that the center of gravity G of the power is the center of the fan shape. Further, when the shape of the sub-area S is an isosceles triangle, the area setting unit 31 sets the sub-area S so that the center of gravity G of the power is the apex of the isosceles triangle. The same applies when the shape of the sub area S is a rhombus. By setting the sub-area S as described above by the area setting unit 31, the locus T of the center of gravity Gs of the sub-area also has a line-symmetrical shape as shown in FIG. 1 (f). In the following, the description will be made on the premise that the shape of the sub-area S is a fan shape, but the shape of the sub-area S is not limited to the fan shape as described above.

(Estimation of the direction in which the transmitting station B exists)
Subsequently, the estimation of the direction in which the transmission station B exists by the estimation unit 33 according to the embodiment will be described.

As described above, the estimation unit 33 according to the embodiment estimates the direction of the transmission station B as seen from the power center of gravity G based on the relationship between the rotation angle θ of each of the plurality of subareas S and the distance d between the centers of gravity. do. More specifically, the estimation unit 33 is viewed from the power center of gravity G based on the symmetry of the graph in which the rotation angle θ is the first axis and the distance d between the centers of gravity corresponding to the rotation angle θ is the second axis. Estimate the direction of the transmitting station B.

FIG. 5 is a diagram schematically showing a graph in which the rotation angle θ is the first axis and the distance d between the centers of gravity corresponding to the rotation angle θ is the second axis. In FIG. 5, the arrow with the reference numeral (a), the arrow with the reference numeral (b), the arrow with the reference numeral (c), and the arrow with the reference numeral (d) are shown in FIG. Corresponds to a), FIG. 3 (b), FIG. 3 (c), and FIG. 3 (d).

3A and 3C show the case where the bisector of the central angle of the subarea S overlaps the axis of symmetry L shown in FIG. 1F. As shown in FIG. 5, in the graph in which the rotation angle θ is the first axis and the distance between the centers of gravity d corresponding to the rotation angle θ is the second axis, the bisector of the central angle of the subarea S is shown in FIG. The graph shown in FIG. 5 is symmetric at the point where it overlaps with the axis of symmetry L shown in (f). The estimation unit 33 can estimate the direction of the transmitting station B as seen from the center of gravity G of the electric power based on this symmetry.

Specifically, the estimation unit 33 sets the extreme value of the correlation between the graph having the rotation angle θ as the first axis and the distance d between the centers of gravity corresponding to the rotation angle θ as the second axis and the symmetry function of the graph. Estimate the direction based on the angle of rotation when taking.

Now, the distance d between the centers of gravity is expressed as a function d (θ) of the rotation angle θ, and the rotation angle when d (θ) is maximized is θ _max . At this time, the symmetric function d'(θ) of the function d (θ) is defined by the following equation (2).
d'(θ) = d (θ _max −θ) (2)

The estimation unit 33 calculates the correlation between the function d (θ) and the function d'(θ + δθ), and calculates the angle δθ _max at which the correlation is maximum. Specifically, the estimation unit 33 calculates δθ _max represented by the following equation (3).

ここで、記号ｃｏｒｒ．は関数の相関を示している。

Here, the symbol corr. Shows the correlation of the functions.

Since the directivity of the radio wave transmitted by the transmitting station B is line symmetric, the angle of θ _max and the angle of θ _max + δ θ _max are symmetric with respect to the directivity direction. Since the function d (θ) is maximum in the directivity direction when viewed from the power center of gravity G, the directivity direction θ _d when viewed from the power center of gravity G is expressed by the following equation (4).

Further, the direction θ _b of the transmitting station B as seen from the center of gravity G of the power is expressed by the following equation (5).

The estimation unit 33 can estimate the direction θ _b of the transmission station B as seen from the center of gravity G of the electric power by calculating the equation (5).

6 (a)-(b) are diagrams showing the simulation results of the direction estimation process executed by the information processing apparatus 1 according to the embodiment. Specifically, FIG. 6A is a diagram showing a locus T of the center of gravity Gs of the subarea when the directivity direction of the radio wave transmitted by the transmitting station B is 80 degrees and the spread of the beam is 120 degrees. .. Further, FIG. 6B is a diagram showing a function R (δθ) showing a correlation between the function d (θ) and the function d'(θ + δθ).

As shown in FIG. 6A, the transmitting station B and the locus T are set on the two-dimensional XY orthogonal coordinate system. In FIG. 6A, the angle is set with reference to the line segment P passing through the center of gravity G and parallel to the Y axis. Therefore, the direction rotated 80 degrees clockwise from the line segment P about the center of gravity G (the direction when the point U is viewed from the center of gravity G in FIG. 6A) is the direction of the radio wave transmitted by the transmitting station B. Is.

Further, in FIG. 6A, the direction indicated by the solid line arrow indicates the direction in which the distance d between the centers of gravity is maximum (direction of 30 degrees), and the arrow indicated by the broken line is the function d (θ). The direction (δθ = 103 degrees) in which the function R (δθ) indicating the correlation of the function d'(θ + δθ) is maximized is shown.

FIG. 6B is a diagram schematically showing a graph in which the value of the function R (δθ) showing the correlation between the function d (θ) and the function d'(θ + δθ) is on the vertical axis and the value of δθ is on the horizontal axis. be. As shown in FIG. 6B, when the value of δθ is 103 degrees, the function R (δθ) is maximum, that is, the correlation is 1.

At this time, the estimation unit 33 estimates that the directivity direction θ _d of the transmitting station B is θ _d = 30 ° + 103 ° / 2 = 81.5 ° based on the equation (4). Since FIG. 6 is a simulation in which the directivity direction of the radio wave transmitted by the transmitting station B is 80 degrees, it can be seen that the estimation unit 33 can accurately estimate the directivity direction θ _d of the transmitting station B. Further, the estimation unit 33 estimates that the direction θ _b of the transmission station B as seen from the center of gravity G of the power is θ _b = 81.5 ° + 180 ° = 261.5 ° based on the equation (5).

<Processing flow of the direction estimation method executed by the information processing apparatus 1>
FIG. 7 is a flowchart for explaining the flow of the direction estimation process executed by the information processing apparatus 1 according to the embodiment. The process in this flowchart starts, for example, when the information processing apparatus 1 is started.

The power center of gravity calculation unit 30 calculates the power center of gravity G obtained by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station B with the power detected by each radio wave sensor and averaging them (S2). ..

The area setting unit 31 sets the rotation angle θ for defining the sub-area S (S4). The area setting unit 31 sets the sub-area S by rotating the sub-area S at the set rotation angle (S6).

The power center of gravity calculation unit 30 calculates the subarea center of gravity Gs calculated by weighting the position coordinates of each of the plurality of radio wave sensors included in the subarea S set by the area setting unit 31 with the power detected by each radio wave sensor and averaging them. (S8). The distance calculation unit 32 calculates the distance d between the centers of gravity, which is the distance between the power center of gravity G and the subarea center of gravity Gs calculated by the power center of gravity calculation unit 30 (S10).

Until the area setting unit 31 finishes setting the new rotation angle θ (No in S12), the area setting unit 31 sets the new rotation angle θ (S14), and the information processing apparatus 1 performs the above-mentioned step S6. The process of step S10 is repeated. When the area setting unit 31 finishes setting the new rotation angle θ (Yes in S12), the estimation unit 33 receives the transmission station B as seen from the power center of gravity G based on the calculations of the equations (2) to (5). The direction θ _b of is estimated (S16). When the estimation unit 33 estimates the direction θ _b of the transmission station B as seen from the center of gravity G of the power, the process in this flowchart ends.

As described above, according to the information processing apparatus 1 according to the embodiment, it is possible to improve the estimation accuracy of the direction θ _b in which the transmission station B is present as seen from the center of gravity G of the electric power.

<Estimation of the existence position of transmitting station B>
From the above, the information processing apparatus 1 according to the embodiment can estimate the direction θ _b in which the transmitting station B is present as seen from the center of gravity G of the electric power. It is highly probable that the transmitting station B exists on a line segment passing through the center of gravity G of the power and heading in the direction θ _b . Hereinafter, a technique for estimating the position of the transmitting station B will be described on the premise that the direction θ _b is known.

(Specification of radius of sub area S)
First, the power center of gravity calculation unit 30 calculates the power center of gravity by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station B with the power detected by each radio wave sensor and averaging them. Subsequently, the estimation unit 33 estimates the direction θ _b of the transmission station B as seen from the center of gravity G of the electric power. After that, the area setting unit 31 sets a sub-area S, which is a fan-shaped area centered on the power center of gravity G and whose line segment from the power center of gravity G toward the direction θ _b is a bisector of the central angle.

8 (a)-(b) are diagrams for explaining the process of specifying the radius r of the sub-area S executed by the information processing apparatus 1 according to the embodiment. Specifically, FIG. 8A shows a diagram when the sub-area S is set toward the direction θ _b in which the transmitting station B is present as seen from the center of gravity G of the electric power. As shown in FIG. 8A, the area setting unit 31 is subordinated so that the bisector of the central angle of the sub area S faces the direction θ _b in which the transmission station B is present as seen from the center of gravity G of the power. Set the area S.

In FIG. 8A, the white circles indicate the positions of the radio wave sensors that have received the radio waves transmitted by the transmitting station B. Further, the size of the white circle indicates the magnitude of the power of the radio wave received by the radio wave sensor, and more specifically, the larger the white circle, the larger the power of the received radio wave. ing. As shown in FIG. 8A, the radio wave sensor existing closer to the transmitting station B has a higher power of the received radio wave.

Here, the area setting unit 31 sets a plurality of different sub-areas S while changing the radius of the sub-area S. The power center of gravity calculation unit 30 calculates a plurality of subarea centers of gravity Gs calculated by weighting the position coordinates of each of the plurality of radio wave sensors included in each of the plurality of subareas S with the power detected by each of the radio wave sensors and averaging them. In FIG. 8A, the first subarea center of gravity Gs1 represented by the reference numeral Gs1 indicates the subarea center of gravity Gs when the area setting unit 31 sets the first subarea S1 which is a subarea having a radius r1. Further, the second sub-area center of gravity Gs2 represented by the reference numeral Gs2 indicates the sub-area center of gravity Gs when the area setting unit 31 sets the second sub-area S2 which is a sub-area having a radius r2. As shown in FIG. 8A, when the area setting unit 31 changes the radius r of the sub-area S, the position of the sub-area center of gravity Gs calculated by the power center of gravity calculation unit 30 also changes. Therefore, hereinafter, the subarea center of gravity Gs when the radius of the subarea S is r is described as Gs (r) as a function of the radius r.

FIG. 8B is a diagram schematically showing the relationship between the radius r of the sub-area S and the distance R (Gs (r)) between the sub-area center of gravity Gs (r) and the power center of gravity G. As shown in FIG. 8B, as the region setting unit 31 sets the radius r longer, the distance Gs (r) between the power center of gravity G and the subarea center of gravity Gs becomes longer. On the other hand, as the radius r of the sub-area S becomes longer, the amount of increase in the distance R (Gs (r)) between the sub-area center of gravity Gs (r) and the power center of gravity G decreases. This is because the longer the radius r, the larger the number of radio wave sensors included in the sub-area S, but the longer the radius r, the smaller the power of the radio wave received by the newly included radio wave sensor.

Therefore, in the area setting unit 31, the radius r of the sub-area S is determined by the ratio of the amount of change in the distance R (Gs (r)) between the power center G and the sub-area center Gs (r) to the amount of change in the radius r. The radius r is changed up to the threshold length _rth , which is the threshold amount of. Here, the ratio of the change in the distance R (Gs (r)) between the power center G and the subarea center Gs (r) to the change in the radius r is the slope of the graph shown in FIG. 8 (b). More specifically, it is represented by the tangent (tan (ξ)) of the angle ξ in FIG.

Further, the "predetermined threshold amount" is a "radius change stop threshold amount" referred to by the area setting unit 31 for determining whether or not to stop the change of the radius r of the sub-area S. The specific value of the predetermined threshold amount may be obtained by an experiment in consideration of the arrangement of the radio wave sensor, the accuracy of the position estimation of the transmitting station B, etc., but as an example, tan (ξ) = 0.05, ξ = 2 It is 5.5 degrees. This indicates that the amount of change in the distance R (Gs (r)) between the power center of gravity G and the subarea center of gravity Gs (r) with respect to the amount of change in the radius r is 5%.

The estimation unit 33 outputs the subarea S whose radius r is the threshold length _rth as an estimation area including the transmission station B. In this way, the estimation unit 33 can narrow the sub-area S, which is an area estimated to include the transmission station B.

(Specification of the central angle φ of the sub area S)
Subsequently, the region setting unit 31 narrows the central angle φ of the sub-area S whose radius r is the threshold length _rth , and further narrows the sub-area S.

FIG. 9 is a diagram for explaining the process of specifying the central angle φ of the sub-area S executed by the information processing apparatus 1 according to the embodiment. As shown in FIG. 9, the area setting unit 31 narrows the sub-area S by changing the central angle φ1 of the sub-area S to φ2, which is an angle smaller than φ1. Specifically, the area setting unit 31 reduces the central angle φ until the central angle φ of the sub area S reaches the threshold angle φ _th where the number of radio wave sensors included in the sub area S becomes a predetermined threshold number. ..

Here, the "predetermined number of thresholds" is the "number of thresholds for stopping the reduction of the central angle" referred to by the area setting unit 31 for determining whether or not to stop the decrease of the central angle φ of the sub area S. The specific value of the predetermined number of thresholds may be obtained by experiment in consideration of the arrangement of the radio wave sensor and the accuracy of the position estimation of the transmitting station B, but as an example, it is at least necessary to calculate the center of gravity of the radio wave sensor. The number is "3". That is, the predetermined number of thresholds is experimentally determined as an integer of 3 or more.

The estimation unit 33 outputs the sub-area S centered on the center of gravity G of the electric power, whose radius r is the threshold length r _th , and whose central angle φ is the threshold angle φ _th , as an estimation region including the transmission station B. As a result, the sub-area S, which is an area presumed to include the transmitting station B, is further narrowed.

Subsequently, the power center of gravity calculation unit 30 is centered on the power center of gravity G, and the positions of the plurality of radio sensors included in the sub-area S _th having a central angle φ having a threshold angle φ _th and a radius r having a threshold length r _th . The sub-area center of gravity _Gth calculated by weighting the coordinates with the power detected by each radio wave sensor and averaging them is calculated. The estimation unit 33 outputs the center of gravity Gs _th of the sub area S _th as the estimated position of the transmission station B. As a result, the estimation unit 33 can accurately estimate the position of the transmission station B.

<Processing flow of the position estimation method executed by the information processing apparatus 1>
FIG. 10 is a flowchart for explaining the flow of the position estimation process executed by the information processing apparatus 1 according to the embodiment. The process in this flowchart starts, for example, when the information processing apparatus 1 is started.

The power center of gravity calculation unit 30 calculates the power center of gravity G by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station B with the power detected by each radio wave sensor and averaging them (S20). ). The estimation unit 33 estimates the direction θ _b of the transmission station B as seen from the center of gravity G of the power (S22).

The area setting unit 31 sets the radius r of the sub-area S, which is a fan-shaped area centered on the center of gravity G and whose line segment from the center of gravity G toward the direction θ _b is a bisector of the central angle (S24). ). The power center of gravity calculation unit 30 calculates the subarea center of gravity Gs calculated by weighting the position coordinates of each of the plurality of radio wave sensors included in the subarea S with the power detected by each radio wave sensor and averaging them (S26).

The area setting unit 31 calculates the ratio of the change amount of the distance R between the power center of gravity G and the sub-area center of gravity Gs to the change amount of the radius r of the sub-area S (S28). The information processing apparatus 1 repeats the processes from step S24 to step S28 until the rate of change calculated by the area setting unit 31 becomes equal to or less than a predetermined threshold value (No in S30).

When the ratio calculated by the area setting unit 31 reaches the threshold length at which the predetermined threshold amount is reached (Yes in S30), the area setting unit 31 sets the central angle φ of the sub-area (S32). While the number of radio wave sensors included in the sub-area S exceeds the threshold value (No in S34), the area setting unit 31 reduces the central angle φ by a predetermined amount and newly sets it. When the number of radio wave sensors included in the sub-area S is equal to or less than the threshold value (Yes in S34), the power center of gravity calculation unit 30 detects the position coordinates of each of the plurality of radio wave sensors included in the sub-area S. The sub-area center of gravity Gs calculated by weighting and averaging with is calculated (S36). The estimation unit 33 outputs the calculated center of gravity Gs of the sub-area S as the estimated position of the transmitting station B (S38). When the estimation unit 33 outputs the estimated position of the transmitting station B, the process in this flowchart ends.

<Effects of the information processing apparatus 1 according to the embodiment>
As described above, the information processing apparatus 1 according to the embodiment can improve the estimation accuracy of the direction θ _b in which the transmitting station B is present as seen from the center of gravity G of the electric power. Further, the information processing apparatus 1 according to the embodiment can accurately estimate the region where the transmission station B exists on the premise that the direction in which the transmission station B exists as seen from the center of gravity G of the electric power is known. ..

In particular, the information processing apparatus 1 according to the embodiment. Whether or not the radio wave transmitted by the transmitting station B has directivity, and if it has directivity, even if the directivity and the angle of the beam spread are unknown, the direction θ _b and the transmitting station B It is possible to accurately estimate the existing area and position.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. be. For example, all or part of the device can be functionally or physically distributed / integrated in any unit. Also included in the embodiments of the present invention are new embodiments resulting from any combination of the plurality of embodiments. The effect of the new embodiment produced by the combination has the effect of the original embodiment together. An example of such a modification will be described below.

<First modification>
In the above, the estimation unit 33 uses the symmetry of the graph with the rotation angle θ as the first axis and the distance d between the centers of gravity corresponding to the rotation angle θ as the second axis, and the transmission station as seen from the power center of gravity G. The case of estimating the direction θ _b of B has been described. However, the estimation method of the direction θ _b by the estimation unit 33 is not limited to this, and other methods may be used.

As described above with reference to FIG. 1 (f), the locus T of the subarea center of gravity Gs has a line-symmetrical shape. The estimation unit 33 may estimate the direction θ _b by obtaining the axis of symmetry L of the locus T by utilizing the fact that the locus T of the center of gravity Gs of the subarea has a line-symmetrical shape.

Specifically, the estimation unit 33 first calculates the center of gravity GT of the locus _T by utilizing the property that the center of gravity of the line-symmetrical figure exists on the axis of symmetry L. Next, the estimation unit 33 divides the locus _T into two regions by a line segment passing through the center of gravity GT, and calculates the area of each region. The axis of symmetry L of the line-symmetrical figure utilizes the fact that the area of the figure is equally divided, and the estimation unit 33 is a line passing through the center of gravity _GT until the areas of the two regions obtained by dividing the line-symmetrical figure become equal. Change the tilt of the minute. As a result, the estimation unit 33 can obtain the axis of symmetry L of the locus T.

<Second modification>
In the above, the case where the estimation unit 33 outputs the center of gravity _Gth of the subarea S _th as the estimated position of the transmission station B has been described. Instead, when the radius r of the sub-area S is the threshold length r _th , assuming that the transmitting station B is located near the arc of the sub-area S, the threshold length r _th and the direction θ _b are used. May be used to estimate the position of the transmitting station B.

FIG. 11 is a diagram for explaining the position estimation process of the transmission station B by the estimation unit 33 according to the second modification. As shown in FIG. 11, in a two-dimensional XY Cartesian coordinate system composed of an X-axis and a Y-axis, the coordinates of the power center G are (Xg, Yg), the radius of the subarea S is _rth , and the power center G is used. When the angle in the two-dimensional XY Cartesian coordinate system that anticipates the transmitting station B is θ _b and the coordinates of the estimated position of the transmitting station B are (Xb, Yb), the estimation unit 33 determines the transmitting station based on the following equation (6). The coordinates (Xb, Yb) of the estimated position of B are calculated.

The estimation unit 33 calculates the coordinates (Xb, Yb) of the estimated position of the transmission station B based on the equation (6), thereby omitting the above-mentioned process of specifying the central angle φ of the sub-area S and transmitting station B. The position of can be estimated. As a result, the estimation unit 33 can suppress the calculation resource required for the position estimation of the transmission station B.

The present invention may be specified by the following items.
[Item 1-1]
It is an information processing device
A power center of gravity calculation unit that calculates the average power center by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors.
Area setting that sets a sub-area that is an area including the center of gravity of the electric power, and sets a plurality of sub-areas whose set positions are changed by rotating the sub-area at a plurality of different angles of rotation with the center of gravity of the electric power as the center of rotation. With a department,
The power center of gravity calculation unit calculates a plurality of sub-area centers of gravity calculated by averaging the position coordinates of each of the plurality of radio wave sensors included in each of the plurality of sub-areas by weighting them with the power detected by each of the radio wave sensors. ,
The information processing device is
A distance calculation unit that calculates the distance between the center of gravity, which is the distance between the power center of gravity and each of the plurality of subarea centers of gravity calculated by the power center of gravity calculation unit.
Further provided is an estimation unit that estimates the direction of the transmitting station as seen from the center of gravity of the electric power based on the relationship between the rotation angle of each of the plurality of subareas and the distance between the centers of gravity.
Information processing equipment.
[Item 1-2]
The area setting unit sets a region having a shape having a line-symmetric structure and having the power center of gravity on the axis of symmetry of line symmetry as the sub-area.
The information processing apparatus according to item 1-1.
[Item 1-3]
The area setting unit sets a fan-shaped region centered on the center of gravity of the electric power or an isosceles triangle region having the center of gravity of the electric power as the apex as the sub-area.
The information processing device according to item 1-2.
[Item 1-4]
The estimation unit estimates the direction based on the symmetry of the graph with the rotation angle as the first axis and the distance between the centers of gravity corresponding to the rotation angle as the second axis.
The information processing apparatus according to any one of items 1-1 to 1-3.
[Item 1-5]
The estimation unit estimates the direction based on the angle of rotation when the correlation between the graph and the symmetric function of the graph takes an extreme value.
The information processing apparatus according to item 1-4.
[Item 1-6]
The processor,
A step of calculating the power center of gravity by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity.
The step of setting a sub-area which is an area including the center of gravity of electric power, and
A step of setting a plurality of sub-areas whose set positions are changed by rotating the sub-area at a plurality of different rotation angles with the center of gravity of the electric power as the center of rotation.
A step of calculating the center of gravity of the plurality of sub-areas calculated by weighting and averaging the position coordinates of each of the plurality of radio wave sensors included in each of the plurality of sub-areas with the electric power detected by each of the radio wave sensors.
A step of calculating the distance between the centers of gravity, which is the distance between the power center of gravity and each of the calculated plurality of subarea centers of gravity,
A step of estimating the direction of the transmitting station as seen from the center of gravity of electric power based on the relationship between the angle of rotation of each of the plurality of subareas and the distance between the centers of gravity is executed.
Information processing method.
[Item 1-7]
On the computer
A function to calculate the power center of gravity by weighting the position coordinates of each of a plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity.
A function to set a sub-area that is an area including the center of gravity of electric power, and
A function to set a plurality of sub-areas whose set positions are changed by rotating the sub-area at a plurality of different rotation angles with the center of gravity of the electric power as the center of rotation.
A function to calculate the center of gravity of a plurality of sub-areas calculated by weighting and averaging the position coordinates of each of the plurality of radio wave sensors included in each of the plurality of sub-areas with the electric power detected by each of the radio wave sensors.
A function to calculate the distance between the center of gravity, which is the distance between the power center of gravity and each of the calculated plurality of subarea centers of gravity, and
A function of estimating the direction of the transmitting station as seen from the center of gravity of electric power based on the relationship between the rotation angle of each of the plurality of subareas and the distance between the centers of gravity is realized.
program.

[Item 2-1]
It is an information processing device
A power center of gravity calculation unit that calculates the average power center by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors.
An estimation unit that estimates the direction of the transmitting station as seen from the center of gravity of the power,
A region setting unit for setting a sub-area which is a fan-shaped region centered on the center of gravity of the power and whose line segment from the center of gravity of the power toward the direction is a bisector of the central angle is provided.
The power center of gravity calculation unit calculates the sub-area center of gravity calculated by weighting and averaging the position coordinates of each of the plurality of radio wave sensors included in the sub-area with the power detected by each of the radio wave sensors.
The area setting unit has the radius until the radius of the sub-area reaches a threshold length at which the ratio of the change in the distance between the center of gravity of the electric power and the center of gravity of the sub-area to the change in the radius becomes a predetermined threshold amount. To change,
The estimation unit outputs the sub-area whose radius is the threshold length as an estimation area including the transmission station.
Information processing equipment.
[Item 2-2]
The area setting unit reduces the central angle until the central angle of the sub-area reaches a threshold angle at which the number of radio wave sensors included in the sub-area becomes a predetermined threshold number.
The estimation unit outputs the sub-area centered on the center of gravity of the electric power, whose radius is the threshold length, and whose central angle is the threshold angle, as the estimation region.
The information processing apparatus according to item 2-1.
[Item 2-3]
The power center of gravity calculation unit detects the position coordinates of each of the plurality of radio wave sensors having the center of gravity as the center, the central angle of which is the threshold angle, and the radius of which is included in the subarea of the threshold length. Calculate the sub-area center of gravity calculated by weighting with power and averaging,
The estimation unit outputs the center of gravity of the sub-area as the estimated position of the transmission station.
The information processing apparatus according to item 2-2.
[Item 2-4]
In the two-dimensional XY Cartesian coordinate system that defines the position coordinates, the estimation unit sets the coordinates of the power center G of the estimation area (Xg, Yg), the radius of the estimation area _rth , and transmits the power center G from the power center G. When the angle in the two-dimensional XY Cartesian coordinate system that anticipates the station is θ _b and the coordinates of the estimated position of the transmitting station are (Xb, Yb), the estimation unit sets the value of Xb to Xg + r _th cos (θ _b ). , Estimate the value of Yb as Yg + r _th sin (θ _b ),
The information processing apparatus according to item 2-2.
[Item 2-5]
The predetermined number of thresholds is 3 or more.
The information processing apparatus according to any one of items 2-2 to 2-4.
[Item 2-6]
The processor,
A step of calculating the power center of gravity by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity.
A step of estimating the direction of the transmitting station as seen from the center of gravity of the power, and
A step of setting a sub-area which is a fan-shaped region centered on the center of gravity of the power source and in which a line segment extending from the center of gravity of the power source toward the direction is a bisector of a central angle.
A step of calculating the center of gravity of the plurality of sub-areas calculated by weighting the position coordinates of each of the plurality of radio wave sensors included in the sub-area by the electric power detected by each of the radio wave sensors and averaging them.
A step of changing the radius of the sub-area until the ratio of the change amount of the center of gravity of the sub-area to the change amount of the radius reaches a threshold length at which a predetermined threshold amount is obtained.
A step of outputting the sub-area whose radius is the threshold length as an estimated region including the transmitting station is executed.
Information processing method.
[Item 2-7]
On the computer
A function to calculate the power center of gravity by weighting the position coordinates of each of a plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity.
The function of estimating the direction of the transmitting station as seen from the center of gravity of the power, and
A function to set a sub-area which is a fan-shaped area centered on the center of gravity of the electric power and whose line segment from the center of gravity of the electric power toward the direction is a bisector of the central angle.
A function to calculate the center of gravity of a plurality of sub-areas calculated by weighting the position coordinates of each of the plurality of radio wave sensors included in the sub-area by the electric power detected by each of the radio wave sensors and averaging them.
The function of changing the radius of the sub-area until the ratio of the change amount of the center of gravity of the sub-area to the change amount of the radius reaches a threshold length at which the predetermined threshold amount is reached.
A function of outputting the sub-area whose radius is the threshold length as an estimation area including the transmitting station is realized.
program.

1 ... Information processing device 2 ... Storage unit 3 ... Control unit 30 ... Power center of gravity calculation unit 31 ... Area setting unit 32 ... Distance calculation unit 33 ... Estimating unit B ...・ Transmitting station

Claims (7)

It is an information processing device
A power center of gravity calculation unit that calculates the average power center by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors.
An estimation unit that estimates the direction of the transmitting station as seen from the center of gravity of the power,
A region setting unit for setting a sub-area which is a fan-shaped region centered on the center of gravity of the power and whose line segment from the center of gravity of the power toward the direction is a bisector of the central angle is provided.
The power center of gravity calculation unit calculates the sub-area center of gravity calculated by weighting and averaging the position coordinates of each of the plurality of radio wave sensors included in the sub-area with the power detected by each of the radio wave sensors.
The area setting unit has the radius until the radius of the sub-area reaches a threshold length at which the ratio of the change in the distance between the center of gravity of the electric power and the center of gravity of the sub-area to the change in the radius becomes a predetermined threshold amount. To change,
The estimation unit outputs the sub-area whose radius is the threshold length as an estimation area including the transmission station.
Information processing equipment. The area setting unit reduces the central angle until the central angle of the sub-area reaches a threshold angle at which the number of radio wave sensors included in the sub-area becomes a predetermined threshold number.
The estimation unit outputs the sub-area centered on the center of gravity of the electric power, whose radius is the threshold length, and whose central angle is the threshold angle, as the estimation region.
The information processing apparatus according to claim 1. The power center of gravity calculation unit detects the position coordinates of each of the plurality of radio wave sensors having the center of gravity as the center, the central angle of which is the threshold angle, and the radius of which is included in the subarea of the threshold length. Calculate the sub-area center of gravity calculated by weighting with power and averaging,
The estimation unit outputs the center of gravity of the sub-area as the estimated position of the transmission station.
The information processing apparatus according to claim 2. In the two-dimensional XY Cartesian coordinate system that defines the position coordinates, the estimation unit sets the coordinates of the power center G of the estimation area (Xg, Yg), the radius of the estimation area _rth , and transmits the power center G from the power center G. When the angle in the two-dimensional XY Cartesian coordinate system that anticipates the station is θ _b and the coordinates of the estimated position of the transmitting station are (Xb, Yb), the estimation unit sets the value of Xb to Xg + r _th cos (θ _b ). , Estimate the value of Yb as Yg + r _th sin (θ _b ),
The information processing apparatus according to claim 2. The predetermined number of thresholds is 3 or more.
The information processing apparatus according to any one of claims 2 to 4. The processor,
A step of calculating the power center of gravity by weighting the position coordinates of each of the plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity.
A step of estimating the direction of the transmitting station as seen from the center of gravity of the power, and
A step of setting a sub-area which is a fan-shaped region centered on the center of gravity of the power source and in which a line segment extending from the center of gravity of the power source toward the direction is a bisector of a central angle.
A step of calculating the center of gravity of the plurality of sub-areas calculated by weighting the position coordinates of each of the plurality of radio wave sensors included in the sub-area by the electric power detected by each of the radio wave sensors and averaging them.
A step of changing the radius of the sub-area until the ratio of the change amount of the center of gravity of the sub-area to the change amount of the radius reaches a threshold length at which a predetermined threshold amount is obtained.
A step of outputting the sub-area whose radius is the threshold length as an estimated region including the transmitting station is executed.
Information processing method. On the computer
A function to calculate the power center of gravity by weighting the position coordinates of each of a plurality of radio wave sensors that detect the power of the radio wave transmitted from the transmitting station with the power detected by each of the radio wave sensors and calculating the average power center of gravity.
The function of estimating the direction of the transmitting station as seen from the center of gravity of the power, and
A function to set a sub-area which is a fan-shaped area centered on the center of gravity of the electric power and whose line segment from the center of gravity of the electric power toward the direction is a bisector of the central angle.
A function to calculate the center of gravity of a plurality of sub-areas calculated by weighting the position coordinates of each of the plurality of radio wave sensors included in the sub-area by the electric power detected by each of the radio wave sensors and averaging them.
The function of changing the radius of the sub-area until the ratio of the change amount of the center of gravity of the sub-area to the change amount of the radius reaches a threshold length at which the predetermined threshold amount is reached.
A function of outputting the sub-area whose radius is the threshold length as an estimation area including the transmitting station is realized.
program.

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